Fusion of Inertial Measurements and Vision Feedback for Microsurgery

A microsurgery system that achieves real-time enhanced micrometer scale positioning accuracy by fusing visual information from a high speed monovision camera mounted on an optical surgical microscope and acceleration measurements from an intelligent handheld instrument,

ITrem2

, is presented. The high speed camera captures images of the tool tip of

ITrem2

to track its position in real-time. The focus value of the tool tip in the acquired image is used to locate the tool tip along the principal axis of the objective lens of the microscope and edge based geometric template matching gives the position in pixel coordinates.

ITrem2

utilizes four dual-axis miniature digital MEMS accelerometers to sense and update the motion information. The system has a first in, first out (FIFO) queue to track the recent history of the slow non-drifting position estimation from the vision system and acceleration readings from the inertial sensors together with their respective time stamps. In the proposed method, real-time visual servoing of micrometer scale motion is achieved by taking into account the dynamic behavior of the vision feedback and incorporating synchronized fusion of these complementary sensors.